#include "stm32f10x.h"
#include "Drv.h"
#include "misc.h"
#include "stm32f10x_usart.h"
#include "stm32f10x_exti.h"
#include <stdio.h>
#include <string.h>
#include <stdarg.h>
#include <stdlib.h>
#include "stm32f10x_tim.h"
#include "math.h"
#include "shell.h"
#include "motor.h"

volatile Line_Par LinePar[256];
volatile unsigned char LineParIn;
volatile unsigned char LineParOut;

volatile int XCurPos=0;
volatile int YCurPos=0;
volatile int ZCurPos=0;
volatile double CurSpeed=0;
volatile double CurStartSpeed=0;
volatile double CurMaxSpeed=0;
 
volatile double CurTime=0;
volatile double CurMaxTime=0;
volatile int LineLen[LineSection];
volatile unsigned char LinePos;

volatile int FOld=0;
volatile int FNew=0;
volatile int Ye=0;
volatile int Xe=0;
volatile int Ze=0;
volatile double K;

volatile char XStep=0;
volatile char YStep=0;
volatile char ZStep=0;

volatile int XPos=0;
volatile int YPos=0;
volatile int ZPos=0;

 
volatile int StartSpeed=1;      //count/s
volatile int MaxSpeed=150;
volatile int StopSpeed=1;
volatile double AccAccSpeed=1; 

volatile int XRecvPos=0;
volatile int YRecvPos=0;
volatile int ZRecvPos=0;

volatile int RecvStartSpeed=1;
volatile int RecvMaxSpeed=150;
volatile int RecvStopSpeed=1;
  